谢琦, 潘博, 付宜利, 王树国. 基于腹腔微创手术机器人的主从控制技术研究[J]. 机器人, 2011, 33(1): 53-58..
XIE Qi, PAN Bo, FU Yili, WANG Shuguo. Master-slave Control Technology Research Based on Abdominal Minimally Invasive Surgery Robot. ROBOT, 2011, 33(1): 53-58..
Abstract：Based on the characteristics of abdominal minimally invasive robotic surgical tasks,a master-slave control system is designed,which uses a high-performance industrial computer as the platform,and an extended multifunctional board with PCI-bus communication as hardware.In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method for its multiple solutions and transcendental functions,an algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot is put forward.A fast real-time trajectory planning method for the master-slave surgical robot real-time control is put forward to solve the problem of trajectory prediction and off-line calculation of traditional methods.Finally,in order to avoid the impact on the accuracy of the system caused by hand-trembling of operators,a digital secondary filter is designed to filter the signal of the master manipulator.
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